MECHATRONICS

INTRODUCTION
PUSHPARAJ MANI PATHAK
MECHANICAL & INDUSTRIAL ENGINEEING, IIT ROORKEE

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Introduction

• Introduction to mechatronics and mechatronics approach

• Measurement system
• Control systems
• Microprocessor based controllers

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Sensors and Transducers

• Performance terminology
• Photoelectric transducers
• Flow transducers
• Optical sensors and transducers
• Semiconductor lasers
• Selection of sensors
• Mechanical/electrical switches, inputting data by switches

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Actuators and Mechanisms

• Actuation systems
• Pneumatic and hydraulic systems
• Process control valves
• Rotary actuators
• Mechanical actuation systems
• Electrical actuation systems

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Signal conditioning

• Signal conditioning
• Filtering digital signals
• Multiplexers
• Data acquisition
• Digital signal processing
• Pulse modulation
• Data presentation systems

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Microprocessors and Microcontrollers:

• Control
• Microcomputer structure
• Microcontrollers applications
• Programmable logic controllers.

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Modeling & System Response

• Mathematical models
• Mechanical
• Electrical
• Hydraulic
• Thermal Systems
• Dynamic response of systems
• Transfer function and frequency response
• Closed loop controllers
• MATLAB as development tool
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Design and Mechatronics

• Input/output system
• Computer based modular design
• System validation
• Remote monitoring and control
• Designing
• Possible design solutions
• Case studies

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Books

• W. Bolton, Mechatronics: Electronic Control Systems in Mechanical

and Electrical Engineering (6th Edition), Pearson, 2015
• D.G. Alciatore and Michael B. Histand, Introduction to
Mechatronics, Tata Mc Graw Hill, 2012.
• Shetty Dedas, Kolk and Richard, Mechatronic system Design;
Cengage Learning, Inc; 2nd ed. Edition, 2010
• Bishop, Mechatronic handbook, CRC press, 2002.
• R. Merzouki, A. K. Samantaray, P. M. Pathak, B. Ould Bouamama,
Intelligent Mechatronic Systems: Modeling, Control and Diagnosis,
ISBN 978-1-4471-4627-8, 2013, Springer, London
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Mechatronics Definition

• Yasakawa Electric Company, In trademark application

documents, Yasakawa defined mechatronics as
– The word, mechatronics, is composed of “mecha” from
mechanism and the “tronics” from electronics.
• In other words, technologies and developed products will be
incorporating electronics more and more into mechanisms,
intimately and organically, and making it impossible to tell
where one ends and the other begins.

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• Harashima, Tomizuka, and Fukada in 1996
– the synergistic (working together) integration of
mechanical engineering, with electronics and intelligent
computer control in the design and manufacturing of
industrial products and processes.
• Auslander and Kempf, 1996
– Mechatronics is the application of complex decision
making to the operation of physical systems.

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• Shetty and Kolk in 1997
– Mechatronics is a methodology used for the optimal
design of electromechanical products.
• W. Bolton
– A mechatronic system is not just a marriage of electrical
and mechanical systems and is more than just a control
system; it is a complete integration of all of them.

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• Mechatronics is generally
– recognized worldwide as a vibrant area of study.
– Undergraduate and graduate programs in mechatronic
engineering are now offered in many universities.
– Refereed journals are being published and dedicated
conferences are being organized and are generally highly
attended.

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Mechatronics?

• Implementing electronics control in a mechanical system.

• Enhancing existing mechanical design with intelligent control.
• Replacing mechanical component with a electronic solution.

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Real life applications: House hold thermostat

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Thermostat components: Conversion to Mechatronic
Design

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Finished Design

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Classification of Mechatronics Products
• In the late 1970s, the Japan Society for the Promotion of Machine Industry
(JSPMI) classified mechatronic products into
• Class I:
– Primarily mechanical products with electronics incorporated to
enhance functionality.
– Examples include numerically controlled machine tools and variable
speed drives in manufacturing machines.
• Class II:
– Traditional mechanical systems with significantly updated internal
devices incorporating electronics. The external user interfaces are
unaltered.
– Examples include the modern sewing machine and automated
manufacturing systems.

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• Class III:
– Systems that retain the functionality of the traditional
mechanical system, but the internal mechanisms are
replaced by electronics.
– An example is the digital watch.
• Class IV:
– Products designed with mechanical and electronic
technologies through synergistic integration.
– Examples include photocopiers, intelligent washers and
dryers, and automatic ovens.
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• The enabling technologies for each mechatronic product class illustrate
the progression of electromechanical products in stride with
developments in control theory, computation technologies, and
microprocessors.
• Class I products were enabled by servo technology, power electronics, and
control theory.
• Class II products were enabled by the availability of early computational
and memory devices and custom circuit design capabilities.
• Class III products relied heavily on the microprocessor and integrated
circuits to replace mechanical systems.
• Class IV products marked the beginning of true mechatronic systems,
through integration of mechanical systems and electronics.
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• It was not until the 1970s with the development of the
microprocessor by the Intel Corporation that integration of
computational systems with mechanical systems became
practical.
• The electronic ignition system was one of the first
mechatronic systems to be introduced in the automobile in
the late 1970s.

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Benefits of Mechatronics
• More features
• Higher precession
• User friendly
• More flexible
• Lower cost, Efficient
• Environment friendly
• Smaller geometry
• More reliable
• Safer
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 Mechatronic system components
ACTUATORS SENSORS
▪ Solenoids, voice coils ▪switches
INPUT SIGNAL
▪ DC motors ▪Potentiometer, Thermocouple CONDITIONING AND
▪ Stepper motors ▪Photoelectrics, Accelerometer INTERFACING
▪ Servo motors ▪Digital encoder ▪ Discrete circuits ▪ Filters
▪Hydraulics, Pneumatics ▪Strain gauge, MEMs ▪ Amplifiers ▪ A/D, D/D

OUTPUT SIGNAL
DIGITAL CONTROL ARCHITECTURES
GRAPHICAL CONDITIONING &
DISPLAYS ▪Logic circuits ▪Control algorithms
INTERFACING
▪LEDs, LCD, CRT ▪Microcontroller ▪communication
▪D/A, D/D ▪Power transistors
▪Digital display ▪Sequencing & Timing ▪SBC, PLC
▪Amplifiers ▪Power op amps
▪Logic & Arithmetic ▪A/D, D/D
▪PWM

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System

• System can be thought of as a box which has an input and an

output and where we are not concerned with what goes on
inside the box but only the relationship between the output
and the input.

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Measurement System

• A black box used for making measurements.

• It has the input the quantity being measured and output the
value of the quantity.
• Example: temperature measurement system

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An Example of Measurement System

Sensor signal conditioner display

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A control system

Output
Input
Central Heating System Temperat
Required ure of the
temperature set value

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Control System

• Open loop systems

• Closed loop systems

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Open Loop System

Input Output
Switch Electric fire
Decision Electric Temper
to power ature
switch change
on or off

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 Elements of a closed loop system
Comparison element
Input + Output
Switch Electric fire
Requir - Electric A
ed Deviation power constant
tempe signal tempera
rature ture
Feedback of
temperature signal Measuring
device
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 Comparison element
+
Correction
Control unit Process
unit
Refer - Controlled
ence Error variable
value signal

Measured value Measuring

device
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Shaft Speed Control (Closed loop system)

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References

• W. Bolton, Mechatronics: Electronic Control Systems in Mechanical and

Electrical Engineering (6th Edition), Pearson, 2015
• D.G. Alciatore and Michael B. Histand, Introduction to Mechatronics, Tata
Mc Graw Hill, 2012.
• Shetty Dedas, Kolk and Richard, Mechatronic system Design; Cengage
Learning, Inc; 2nd ed. Edition, 2010
• Bishop, Mechatronic handbook, CRC press, 2002.
• R. Merzouki, A. K. Samantaray, P. M. Pathak, B. Ould Bouamama,
Intelligent Mechatronic Systems: Modeling, Control and Diagnosis, ISBN
978-1-4471-4627-8, 2013, Springer, London

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Thank You

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